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Merged
mathieu1fb merged 12 commits into from
Apr 14, 2026
Merged

Java: DENM v1.1.3 refactoring and new DENM v2.2.0 #502

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272590c
java/iot3mobility: add DENM core classes
mathieu1fb Mar 27, 2026
6713001
java/iot3mobility: add DENM v1.1.3 model classes
mathieu1fb Mar 27, 2026
15fb6c4
java/iot3mobility: add DENM v2.2.0 model classes
mathieu1fb Mar 27, 2026
505ed74
java/iot3mobility: add DENM v1.1.3 and v2.2.0 codec and validation cl…
mathieu1fb Mar 27, 2026
6f9a3bb
java/iot3mobility: add DenmHelper class for easy DENM parsing and gen…
mathieu1fb Mar 27, 2026
31de69f
java/iot3mobility: rename and relocate DENM PathPosition and PathElem…
mathieu1fb Mar 31, 2026
236d70e
java/iot3mobility: refactor containers naming for DENM v2.2.0
mathieu1fb Mar 31, 2026
038e620
java/iot3mobility: update DENM processing to new versions
mathieu1fb Mar 31, 2026
b1a5477
java/iot3mobility: remove legacy DENM implementation and fuse EtsiUti…
mathieu1fb Mar 31, 2026
af398eb
java/iot3examples: add DENM v1.1.3 and v2.2.0 to example classes
mathieu1fb Mar 31, 2026
7631424
java/iot3mobility: javadoc polishing
mathieu1fb Apr 2, 2026
43f6978
java: add Java SDK support for DENM v2.2.0 to the README
mathieu1fb Apr 13, 2026
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28 changes: 14 additions & 14 deletions README.md
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Expand Up @@ -92,20 +92,20 @@ But also schemas of custom messages for V2X:
_Note: none of the provided implementation is able to use different versions of a schema,
they are using the following versions:

| Schema | Rust | Python | Java | Swift |
|:-----------------:|:-----------------------------------------------------------------------------------:|:---------------------------------------------------------:|:-----------------------------------------------------------------------------------:|:-------------------------------------------:|
| **Bootstrap** | | | | |
| **CAM** | [2.2.0](schema/cam/cam_schema_2-2-0.json) [1.1.3](schema/cam/cam_schema_1-1-3.json) | [1.1.3](schema/cam/cam_schema_1-1-3.json) | [2.3.0](schema/cam/cam_schema_2-3-0.json) [1.1.3](schema/cam/cam_schema_1-1-3.json) | [1.1.3](schema/cam/cam_schema_1-1-3.json) |
| **CPM** | [2.1.0](schema/cpm/cpm_schema_2-1-0.json) | [2.1.1](schema/cpm/cpm_schema_2-1-1.json) | [2.1.1](schema/cpm/cpm_schema_2-1-1.json) [1.2.1](schema/cpm/cpm_schema_1-2-1.json) | |
| **DENM** | [2.2.0](schema/denm/denm_schema_2-2-0.json) | [1.1.3](schema/denm/denm_schema_1-1-3.json) | [1.1.3](schema/denm/denm_schema_1-1-3.json) | [1.1.3](schema/denm/denm_schema_1-1-3.json) |
| **Information** | [2.1.0](schema/information/information_schema_2-1-0.json) | [1.2.0](schema/information/information_schema_1-2-0.json) | | |
| **MAPEM** | | | | |
| **Neighbourhood** | | | | |
| **Region** | | | | |
| **SPATEM** | | | | |
| **SREM** | | | | |
| **SSEM** | | | | |
| **Status** | | [1.2.0](schema/status/status_schema_1-2-0.json) | | |
| Schema | Rust | Python | Java | Swift |
|:-----------------:|:-----------------------------------------------------------------------------------:|:---------------------------------------------------------:|:---------------------------------------------------------------------------------------:|:-------------------------------------------:|
| **Bootstrap** | | | | |
| **CAM** | [2.2.0](schema/cam/cam_schema_2-2-0.json) [1.1.3](schema/cam/cam_schema_1-1-3.json) | [1.1.3](schema/cam/cam_schema_1-1-3.json) | [2.3.0](schema/cam/cam_schema_2-3-0.json) [1.1.3](schema/cam/cam_schema_1-1-3.json) | [1.1.3](schema/cam/cam_schema_1-1-3.json) |
| **CPM** | [2.1.0](schema/cpm/cpm_schema_2-1-0.json) | [2.1.1](schema/cpm/cpm_schema_2-1-1.json) | [2.1.1](schema/cpm/cpm_schema_2-1-1.json) [1.2.1](schema/cpm/cpm_schema_1-2-1.json) | |
| **DENM** | [2.2.0](schema/denm/denm_schema_2-2-0.json) | [1.1.3](schema/denm/denm_schema_1-1-3.json) | [2.2.0](schema/denm/denm_schema_2-2-0.json) [1.1.3](schema/denm/denm_schema_1-1-3.json) | [1.1.3](schema/denm/denm_schema_1-1-3.json) |
| **Information** | [2.1.0](schema/information/information_schema_2-1-0.json) | [1.2.0](schema/information/information_schema_1-2-0.json) | | |
| **MAPEM** | | | | |
| **Neighbourhood** | | | | |
| **Region** | | | | |
| **SPATEM** | | | | |
| **SREM** | | | | |
| **SSEM** | | | | |
| **Status** | | [1.2.0](schema/status/status_schema_1-2-0.json) | | |

Languages
---------
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63 changes: 63 additions & 0 deletions java/iot3/examples/src/main/java/com/orange/DenmV113Factory.java
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@@ -0,0 +1,63 @@
package com.orange;

import com.orange.iot3mobility.TrueTime;
import com.orange.iot3mobility.messages.EtsiConverter;
import com.orange.iot3mobility.messages.StationType;
import com.orange.iot3mobility.messages.denm.DenmHelper;
import com.orange.iot3mobility.messages.denm.v113.model.DenmEnvelope113;
import com.orange.iot3mobility.messages.denm.v113.model.DenmMessage113;
import com.orange.iot3mobility.messages.denm.v113.model.Origin;
import com.orange.iot3mobility.messages.denm.v113.model.managementcontainer.ActionId;
import com.orange.iot3mobility.messages.denm.v113.model.managementcontainer.ManagementContainer;
import com.orange.iot3mobility.messages.denm.v113.model.managementcontainer.ReferencePosition;
import com.orange.iot3mobility.messages.denm.v113.model.situationcontainer.EventType;
import com.orange.iot3mobility.messages.denm.v113.model.situationcontainer.SituationContainer;
import com.orange.iot3mobility.quadkey.LatLng;
import com.orange.iot3mobility.roadobjects.HazardType;

public class DenmV113Factory {
private static final int PROTOCOL_VERSION = 2;
private static final long STATION_ID = 123456L;
private static final int LIFETIME = 10;
private static final int INFO_QUALITY = 7;

private DenmV113Factory() {
// Factory class
}

static DenmEnvelope113 createTestDenmEnvelope(
String sourceUuid,
HazardType hazardType,
LatLng position,
StationType stationType) {
return DenmEnvelope113.builder()
.origin(Origin.self.name())
.sourceUuid(sourceUuid)
.timestamp(TrueTime.getAccurateTime())
.message(DenmMessage113.builder()
.protocolVersion(PROTOCOL_VERSION)
.stationId(STATION_ID)
.managementContainer(ManagementContainer.builder()
.actionId(new ActionId(
STATION_ID,
DenmHelper.getNextSequenceNumber()))
.detectionTime(TrueTime.getAccurateETSITime())
.referenceTime(TrueTime.getAccurateETSITime())
.eventPosition(new ReferencePosition(
EtsiConverter.latitudeEtsi(position.getLatitude()),
EtsiConverter.longitudeEtsi(position.getLongitude()),
0
))
.validityDuration(LIFETIME)
.stationType(stationType.value)
.build())
.situationContainer(SituationContainer.builder()
.informationQuality(INFO_QUALITY)
.eventType(new EventType(
hazardType.getCause(),
hazardType.getSubcause()))
.build())
.build())
.build();
}
}
66 changes: 66 additions & 0 deletions java/iot3/examples/src/main/java/com/orange/DenmV220Factory.java
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@@ -0,0 +1,66 @@
package com.orange;

import com.orange.iot3mobility.TrueTime;
import com.orange.iot3mobility.messages.EtsiConverter;
import com.orange.iot3mobility.messages.StationType;
import com.orange.iot3mobility.messages.denm.DenmHelper;
import com.orange.iot3mobility.messages.denm.v220.model.DenmEnvelope220;
import com.orange.iot3mobility.messages.denm.v220.model.DenmMessage220;
import com.orange.iot3mobility.messages.denm.v220.model.defs.Altitude;
import com.orange.iot3mobility.messages.denm.v220.model.defs.PositionConfidenceEllipse;
import com.orange.iot3mobility.messages.denm.v220.model.managementcontainer.ActionId;
import com.orange.iot3mobility.messages.denm.v220.model.managementcontainer.ManagementContainer;
import com.orange.iot3mobility.messages.denm.v220.model.managementcontainer.ReferencePosition;
import com.orange.iot3mobility.messages.denm.v220.model.situationcontainer.CauseCode;
import com.orange.iot3mobility.messages.denm.v220.model.situationcontainer.SituationContainer;
import com.orange.iot3mobility.quadkey.LatLng;
import com.orange.iot3mobility.roadobjects.HazardType;

public class DenmV220Factory {
private static final int PROTOCOL_VERSION = 2;
private static final long STATION_ID = 123456L;
private static final int LIFETIME = 10;
private static final int INFO_QUALITY = 7;

private DenmV220Factory() {
// Factory class
}

static DenmEnvelope220 createTestDenmEnvelope(
String sourceUuid,
HazardType hazardType,
LatLng position,
StationType stationType) {
return DenmEnvelope220.builder()
.sourceUuid(sourceUuid)
.timestamp(TrueTime.getAccurateTime())
.message(DenmMessage220.builder()
.protocolVersion(PROTOCOL_VERSION)
.stationId(STATION_ID)
.managementContainer(ManagementContainer.builder()
.actionId(new ActionId(
STATION_ID,
DenmHelper.getNextSequenceNumber()))
.detectionTime(TrueTime.getAccurateETSITime())
.referenceTime(TrueTime.getAccurateETSITime())
.eventPosition(ReferencePosition.builder()
.latitude(EtsiConverter.latitudeEtsi(position.getLatitude()))
.longitude(EtsiConverter.longitudeEtsi(position.getLongitude()))
.positionConfidenceEllipse(new PositionConfidenceEllipse(
4095, 4095, 3601))
.altitude(new Altitude(
0, 15))
.build())
.validityDuration(LIFETIME)
.stationType(stationType.value)
.build())
.situationContainer(SituationContainer.builder()
.informationQuality(INFO_QUALITY)
.eventType(new CauseCode(
hazardType.getCause(),
hazardType.getSubcause()))
.build())
.build())
.build();
}
}
46 changes: 37 additions & 9 deletions java/iot3/examples/src/main/java/com/orange/Iot3MobilityBootstrapExample.java
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Expand Up @@ -6,6 +6,7 @@
import com.orange.iot3mobility.IoT3Mobility;
import com.orange.iot3mobility.IoT3MobilityCallback;
import com.orange.iot3mobility.Utils;
import com.orange.iot3mobility.messages.StationType;
import com.orange.iot3mobility.messages.cam.core.CamCodec;
import com.orange.iot3mobility.messages.cam.core.CamVersion;
import com.orange.iot3mobility.messages.cam.v113.model.CamEnvelope113;
Expand All @@ -14,9 +15,11 @@
import com.orange.iot3mobility.messages.cpm.core.CpmVersion;
import com.orange.iot3mobility.messages.cpm.v121.model.CpmEnvelope121;
import com.orange.iot3mobility.messages.cpm.v211.model.CpmEnvelope211;
import com.orange.iot3mobility.messages.denm.core.DenmCodec;
import com.orange.iot3mobility.messages.denm.core.DenmVersion;
import com.orange.iot3mobility.messages.denm.v113.model.DenmEnvelope113;
import com.orange.iot3mobility.messages.denm.v220.model.DenmEnvelope220;
import com.orange.iot3mobility.roadobjects.HazardType;
import com.orange.iot3mobility.its.StationType;
import com.orange.iot3mobility.its.json.denm.DENM;
import com.orange.iot3mobility.managers.IoT3RoadHazardCallback;
import com.orange.iot3mobility.managers.IoT3RoadSensorCallback;
import com.orange.iot3mobility.managers.IoT3RoadUserCallback;
Expand All @@ -26,7 +29,6 @@
import com.orange.iot3mobility.roadobjects.RoadUser;
import com.orange.iot3mobility.roadobjects.SensorObject;

import java.io.IOException;
import java.net.URI;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
Expand Down Expand Up @@ -112,8 +114,14 @@ public void roadHazardExpired(RoadHazard roadHazard) {
}

@Override
public void denmArrived(DENM denm) {
System.out.println("DENM received: " + denm.getJsonDENM());
public void denmArrived(DenmCodec.DenmFrame<?> denmFrame) {
if(denmFrame.version().equals(DenmVersion.V1_1_3)) {
DenmEnvelope113 denmEnvelope113 = (DenmEnvelope113) denmFrame.envelope();
System.out.println("Raw DENM v1.1.3: " + denmEnvelope113);
} else if(denmFrame.version().equals(DenmVersion.V2_2_0)) {
DenmEnvelope220 denmEnvelope220 = (DenmEnvelope220) denmFrame.envelope();
System.out.println("Raw DENM v2.2.0: " + denmEnvelope220);
}
}
});

Expand Down Expand Up @@ -221,22 +229,42 @@ private static void setRegionOfInterest(LatLng roiPosition) {
private static synchronized void startSendingMessages() {
ScheduledExecutorService messageScheduler = Executors.newScheduledThreadPool(1);
messageScheduler.scheduleWithFixedDelay(() -> sendTestCam(CamVersion.V1_1_3), 1, 1, TimeUnit.SECONDS);
messageScheduler.scheduleWithFixedDelay(Iot3MobilityBootstrapExample::sendTestDenm, 1, 10, TimeUnit.SECONDS);
messageScheduler.scheduleWithFixedDelay(() -> sendTestDenm(DenmVersion.V1_1_3), 1, 5, TimeUnit.SECONDS);
messageScheduler.scheduleWithFixedDelay(() -> sendTestCpm(CpmVersion.V1_2_1), 1, 1, TimeUnit.SECONDS);
}

private static void sendTestCam(CamVersion camVersion) {
LatLng position = new LatLng(48.625218, 2.243448); // center point of UTAC TEQMO
try {
ioT3Mobility.sendPosition(StationType.PASSENGER_CAR, position, 0, 0, 0, 0, 0, camVersion);
} catch (IOException e) {
} catch (Exception e) {
System.out.println("CAM ERROR: " + e);
}
}

private static void sendTestDenm() {
private static void sendTestDenm(DenmVersion denmVersion) {
LatLng position = new LatLng(48.626059, 2.247904); // planar area of UTAC TEQMO
ioT3Mobility.sendHazard(HazardType.ACCIDENT_NO_SUBCAUSE, position, 10, 7, StationType.PASSENGER_CAR);
HazardType hazardType = HazardType.ACCIDENT_NO_SUBCAUSE;
StationType stationType = StationType.PASSENGER_CAR;
try {
if(denmVersion == DenmVersion.V1_1_3) {
DenmEnvelope113 denmEnvelope113 = DenmV113Factory.createTestDenmEnvelope(
EXAMPLE_UUID,
hazardType,
position,
stationType);
ioT3Mobility.sendDenm(denmEnvelope113);
} else if(denmVersion == DenmVersion.V2_2_0) {
DenmEnvelope220 denmEnvelope220 = DenmV220Factory.createTestDenmEnvelope(
EXAMPLE_UUID,
hazardType,
position,
stationType);
ioT3Mobility.sendDenm(denmEnvelope220);
}
} catch (Exception e) {
System.out.println("DENM ERROR: " + e);
}
}

private static void sendTestCpm(CpmVersion cpmVersion) {
Expand Down
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